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README.md

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+
+---
+tags:
+- phosphobot
+- so100
+- phospho-dk
+task_categories:
+- robotics                                                   
+---
+
+# move_object_to_X
+
+**This dataset was generated using a [phospho starter pack](https://robots.phospho.ai).**
+
+This dataset contains a series of episodes recorded with a robot and multiple cameras. It can be directly used to train a policy using imitation learning. It's compatible with LeRobot and RLDS.

data/chunk-000/episode_000000.parquet

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+size 88437

meta/episodes.jsonl

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+{"episode_index":0,"tasks":["Move the object from to the x"],"length":2212}

meta/episodes_stats.jsonl

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+{"episode_index": 0, "stats": {"observation.state": {"max": [0.5431618067744985, 0.5661771375700283, 1.4000000000000008, 1.670000000000001, 3.1400000000000023, 1.500000000000001], "min": [-0.6935286346386264, -1.570800000000001, -0.5400930960017623, -1.6700000000000013, -0.12581714168222852, -0.049099372363796495], "mean": [-0.08725016180786598, -0.7926018195557885, 0.5616699787154126, -0.08164276677062449, 2.7025710521757436, 0.3957697290082088], "std": [0.2986757180862636, 0.8842983655821869, 0.8844921470369145, 1.5905921407946324, 0.8771824407936655, 0.6607936179222795], "count": [2212]}, "action": {"max": [0.5431618067744985, 0.5661771375700283, 1.4000000000000008, 1.670000000000001, 3.1400000000000023, 1.500000000000001], "min": [-0.6935286346386264, -1.570800000000001, -0.5400930960017623, -1.6700000000000013, -0.12581714168222852, -0.049099372363796495], "mean": [-0.08725016180786598, -0.7926018195557885, 0.5616699787154126, -0.08164276677062449, 2.7025710521757436, 0.3957697290082088], "std": [0.2986757180862636, 0.8842983655821869, 0.8844921470369145, 1.5905921407946324, 0.8771824407936655, 0.6607936179222795], "count": [2212]}, "timestamp": {"max": [116.25905241601868], "min": [0.052823583013378084], "mean": [57.98840661977155], "std": [33.37394553675243], "count": [2212]}, "frame_index": {"max": [2211], "min": [0], "mean": [1105.5], "std": [638.549332471658], "count": [2212]}, "episode_index": {"max": [0], "min": [0], "mean": [0.0], "std": [0.0], "count": [2212]}, "index": {"max": [2211], "min": [0], "mean": [1105.5], "std": [638.549332471658], "count": [2212]}, "task_index": {"max": [0], "min": [0], "mean": [0.0], "std": [0.0], "count": [2212]}, "observation.images.main": {"max": [[[1.0]], [[1.0]], [[1.0]]], "min": [[[0.0]], [[0.0]], [[0.0]]], "mean": [[[0.4664917212929476]], [[0.4702938988095238]], [[0.4654493953435805]]], "std": [[[0.13440226950137418]], [[0.1462942555285226]], [[0.14112303417101066]]], "count": [679526400]}}}

meta/info.json

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+{
+    "robot_type": "so-100",
+    "codebase_version": "v2.1",
+    "total_episodes": 1,
+    "total_frames": 2212,
+    "total_tasks": 1,
+    "total_videos": 1,
+    "total_chunks": 1,
+    "chunks_size": 1000,
+    "fps": 60,
+    "splits": {
+        "train": "0:1"
+    },
+    "data_path": "data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet",
+    "video_path": "videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4",
+    "features": {
+        "action": {
+            "dtype": "float32",
+            "shape": [
+                6
+            ],
+            "names": [
+                "motor_1",
+                "motor_2",
+                "motor_3",
+                "motor_4",
+                "motor_5",
+                "motor_6"
+            ]
+        },
+        "observation.state": {
+            "dtype": "float32",
+            "shape": [
+                6
+            ],
+            "names": [
+                "motor_1",
+                "motor_2",
+                "motor_3",
+                "motor_4",
+                "motor_5",
+                "motor_6"
+            ]
+        },
+        "timestamp": {
+            "dtype": "float32",
+            "shape": [
+                1
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+            "names": null
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+        "episode_index": {
+            "dtype": "int64",
+            "shape": [
+                1
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+            "names": null
+        },
+        "frame_index": {
+            "dtype": "int64",
+            "shape": [
+                1
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+            "names": null
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+        "task_index": {
+            "dtype": "int64",
+            "shape": [
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+        "index": {
+            "dtype": "int64",
+            "shape": [
+                1
+            ],
+            "names": null
+        },
+        "observation.images.main": {
+            "dtype": "video",
+            "shape": [
+                480,
+                640,
+                3
+            ],
+            "names": [
+                "height",
+                "width",
+                "channel"
+            ],
+            "info": {
+                "video.fps": 60,
+                "video.codec": "mp4v",
+                "video.pix_fmt": "yuv420p",
+                "video.is_depth_map": false,
+                "has_audio": false
+            }
+        }
+    }
+}

meta/tasks.jsonl

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+{"task_index":0,"task":"Move the object from to the x"}

videos/chunk-000/observation.images.main/episode_000000.mp4

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